Intelligent control of humanoid manipulation with uncertain weight objects

Minsung Ahn,Sukhwan Cho,Chaeyoun Oh,Hak Yi,Sangryong Lee

doi:10.1177/1729881417705799

Abstract

This article addresses a new intelligent full-body balancing control framework on a full-sized humanoid robot for stably tracking a given reference while grasping onto objects with unknown weight information. Dealing with external uncertainty from the inherent stability of humanoid is an interesting challenge for developing stable manipulation performance during their operation. To this end, intelligent fuzzy-proportional–integral control scheme where parameters are adaptively adjusted to respond to those uncertainties is proposed in this study. Application of momentum information at the torso as additional information is to make the improvement of the manipulation capability on a humanoid over an unknown weight object. Results from both experiment and simulation over a range of unknown weight objects on humanoid hand verified that the proposed scheme is more representative of the intelligent control on humanoid operation with external uncertainties.

Highlights

Since humanoid research began in the late 20th century, an important driving force behind it was the idea that robots could seamlessly be a part of our lives, conducting humanlike tasks
In an intelligent control on a humanoid robot, little work has been investigated regarding redundant arms taking into account a full-body balance while conducting manipulation tasks
The goal of this article is to apply a fuzzy-PID control scheme on a 7-degree of freedom (DOF) humanoid arm with no weight information following a predefined trajectory while considering the full-body balance

Summary

Introduction

Since humanoid research began in the late 20th century, an important driving force behind it was the idea that robots could seamlessly be a part of our lives, conducting humanlike tasks. To enhance the performance of these tasks, research to improve the kinematic redundancy of a robotic arm has been prevalent.[1,2,3,4,5,6] Especially to maximize the reachable workspace and versatile motion, improvement on dexterity of a robotic arm has been considered as one of the more important topics.[7,8,9] as the degree of freedom (DOF) increases, controlling the arms becomes extremely complex Factors such as efficient power distribution to the motors and increased weight of the motors are added to the already difficult problem of fully accomplishing their performance.[10].

Objectives

Results

Conclusion